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More content, so much more that it's not even funny. More world to explore. More interesting vehicle choices (not by much though) AND SO MUCH MORE WEAPON VARIETY.
The boss encounters in defiance were much better too, ESPECIALLY THE EPIC END BOSS (like NES kind of difficulty... well... almost......but at least SNES).
I remember playing through defiance so much better than I do destiny. Even the incredibly lame borderlands-like jokes and characters were more memorable in defiance than the bland, flavorless, archetypes in destiny (no, Bungie, I won't go to your fucking website).
Defiance is simply a better game and it kind of saddens me to see destiny get more slack simply because of shinier graphics and presence on the new consoles.
As many, many have said, Destiny isn't bad. By console standards, it exceeds expectations slightly, but I don't think it's fair to say that it deserves anymore success than defiance, especially with the paygated crap in an already p2p game.